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mbed-rtos/rtx/TARGET_ARM7/rt_System.c@40:e3bbda7444fa, 2019-05-07 (annotated)

Committer:
Noximilien
Date:
Tue May 07 15:22:35 2019 +0000
Revision:
40:e3bbda7444fa
Parent:
1:5aa2312d3e94 
The Final, Submission Version. I have read and agreed to the academic integrity. SID:201160286

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Noximilien 1:5aa2312d3e94 1 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 2 * RL-ARM - RTX
Noximilien 1:5aa2312d3e94 3 *----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 4 * Name: RT_SYSTEM.C
Noximilien 1:5aa2312d3e94 5 * Purpose: System Task Manager
Noximilien 1:5aa2312d3e94 6 * Rev.: V4.60
Noximilien 1:5aa2312d3e94 7 *----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 8 *
Noximilien 1:5aa2312d3e94 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
Noximilien 1:5aa2312d3e94 10 * All rights reserved.
Noximilien 1:5aa2312d3e94 11 * Redistribution and use in source and binary forms, with or without
Noximilien 1:5aa2312d3e94 12 * modification, are permitted provided that the following conditions are met:
Noximilien 1:5aa2312d3e94 13 * - Redistributions of source code must retain the above copyright
Noximilien 1:5aa2312d3e94 14 * notice, this list of conditions and the following disclaimer.
Noximilien 1:5aa2312d3e94 15 * - Redistributions in binary form must reproduce the above copyright
Noximilien 1:5aa2312d3e94 16 * notice, this list of conditions and the following disclaimer in the
Noximilien 1:5aa2312d3e94 17 * documentation and/or other materials provided with the distribution.
Noximilien 1:5aa2312d3e94 18 * - Neither the name of ARM nor the names of its contributors may be used
Noximilien 1:5aa2312d3e94 19 * to endorse or promote products derived from this software without
Noximilien 1:5aa2312d3e94 20 * specific prior written permission.
Noximilien 1:5aa2312d3e94 21 *
Noximilien 1:5aa2312d3e94 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Noximilien 1:5aa2312d3e94 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Noximilien 1:5aa2312d3e94 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Noximilien 1:5aa2312d3e94 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
Noximilien 1:5aa2312d3e94 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Noximilien 1:5aa2312d3e94 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Noximilien 1:5aa2312d3e94 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Noximilien 1:5aa2312d3e94 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Noximilien 1:5aa2312d3e94 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Noximilien 1:5aa2312d3e94 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Noximilien 1:5aa2312d3e94 32 * POSSIBILITY OF SUCH DAMAGE.
Noximilien 1:5aa2312d3e94 33 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 34
Noximilien 1:5aa2312d3e94 35 #include "rt_TypeDef.h"
Noximilien 1:5aa2312d3e94 36 #include "RTX_Conf.h"
Noximilien 1:5aa2312d3e94 37 #include "rt_Task.h"
Noximilien 1:5aa2312d3e94 38 #include "rt_System.h"
Noximilien 1:5aa2312d3e94 39 #include "rt_Event.h"
Noximilien 1:5aa2312d3e94 40 #include "rt_List.h"
Noximilien 1:5aa2312d3e94 41 #include "rt_Mailbox.h"
Noximilien 1:5aa2312d3e94 42 #include "rt_Semaphore.h"
Noximilien 1:5aa2312d3e94 43 #include "rt_Time.h"
Noximilien 1:5aa2312d3e94 44 #include "rt_Robin.h"
Noximilien 1:5aa2312d3e94 45 #include "rt_HAL_CM.h"
Noximilien 1:5aa2312d3e94 46
Noximilien 1:5aa2312d3e94 47 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 48 * Global Variables
Noximilien 1:5aa2312d3e94 49 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 50
Noximilien 1:5aa2312d3e94 51 int os_tick_irqn;
Noximilien 1:5aa2312d3e94 52
Noximilien 1:5aa2312d3e94 53 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 54 * Local Variables
Noximilien 1:5aa2312d3e94 55 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 56
Noximilien 1:5aa2312d3e94 57 static volatile BIT os_lock;
Noximilien 1:5aa2312d3e94 58 static volatile BIT os_psh_flag;
Noximilien 1:5aa2312d3e94 59 static U8 pend_flags;
Noximilien 1:5aa2312d3e94 60
Noximilien 1:5aa2312d3e94 61 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 62 * Global Functions
Noximilien 1:5aa2312d3e94 63 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 64
Noximilien 1:5aa2312d3e94 65 #if defined (__CC_ARM)
Noximilien 1:5aa2312d3e94 66 __asm void $$RTX$$version (void) {
Noximilien 1:5aa2312d3e94 67 /* Export a version number symbol for a version control. */
Noximilien 1:5aa2312d3e94 68
Noximilien 1:5aa2312d3e94 69 EXPORT __RL_RTX_VER
Noximilien 1:5aa2312d3e94 70
Noximilien 1:5aa2312d3e94 71 __RL_RTX_VER EQU 0x450
Noximilien 1:5aa2312d3e94 72 }
Noximilien 1:5aa2312d3e94 73 #endif
Noximilien 1:5aa2312d3e94 74
Noximilien 1:5aa2312d3e94 75
Noximilien 1:5aa2312d3e94 76 /*--------------------------- rt_suspend ------------------------------------*/
Noximilien 1:5aa2312d3e94 77 U32 rt_suspend (void) {
Noximilien 1:5aa2312d3e94 78 /* Suspend OS scheduler */
Noximilien 1:5aa2312d3e94 79 U32 delta = 0xFFFF;
Noximilien 1:5aa2312d3e94 80
Noximilien 1:5aa2312d3e94 81 rt_tsk_lock();
Noximilien 1:5aa2312d3e94 82
Noximilien 1:5aa2312d3e94 83 if (os_dly.p_dlnk) {
Noximilien 1:5aa2312d3e94 84 delta = os_dly.delta_time;
Noximilien 1:5aa2312d3e94 85 }
Noximilien 1:5aa2312d3e94 86 #ifndef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 87 if (os_tmr.next) {
Noximilien 1:5aa2312d3e94 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
Noximilien 1:5aa2312d3e94 89 }
Noximilien 1:5aa2312d3e94 90 #endif
Noximilien 1:5aa2312d3e94 91
Noximilien 1:5aa2312d3e94 92 return (delta);
Noximilien 1:5aa2312d3e94 93 }
Noximilien 1:5aa2312d3e94 94
Noximilien 1:5aa2312d3e94 95
Noximilien 1:5aa2312d3e94 96 /*--------------------------- rt_resume -------------------------------------*/
Noximilien 1:5aa2312d3e94 97 void rt_resume (U32 sleep_time) {
Noximilien 1:5aa2312d3e94 98 /* Resume OS scheduler after suspend */
Noximilien 1:5aa2312d3e94 99 P_TCB next;
Noximilien 1:5aa2312d3e94 100 U32 delta;
Noximilien 1:5aa2312d3e94 101
Noximilien 1:5aa2312d3e94 102 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 103 rt_put_rdy_first (os_tsk.run);
Noximilien 1:5aa2312d3e94 104
Noximilien 1:5aa2312d3e94 105 os_robin.task = NULL;
Noximilien 1:5aa2312d3e94 106
Noximilien 1:5aa2312d3e94 107 /* Update delays. */
Noximilien 1:5aa2312d3e94 108 if (os_dly.p_dlnk) {
Noximilien 1:5aa2312d3e94 109 delta = sleep_time;
Noximilien 1:5aa2312d3e94 110 if (delta >= os_dly.delta_time) {
Noximilien 1:5aa2312d3e94 111 delta -= os_dly.delta_time;
Noximilien 1:5aa2312d3e94 112 os_time += os_dly.delta_time;
Noximilien 1:5aa2312d3e94 113 os_dly.delta_time = 1;
Noximilien 1:5aa2312d3e94 114 while (os_dly.p_dlnk) {
Noximilien 1:5aa2312d3e94 115 rt_dec_dly();
Noximilien 1:5aa2312d3e94 116 if (delta == 0) break;
Noximilien 1:5aa2312d3e94 117 delta--;
Noximilien 1:5aa2312d3e94 118 os_time++;
Noximilien 1:5aa2312d3e94 119 }
Noximilien 1:5aa2312d3e94 120 } else {
Noximilien 1:5aa2312d3e94 121 os_time += delta;
Noximilien 1:5aa2312d3e94 122 os_dly.delta_time -= delta;
Noximilien 1:5aa2312d3e94 123 }
Noximilien 1:5aa2312d3e94 124 } else {
Noximilien 1:5aa2312d3e94 125 os_time += sleep_time;
Noximilien 1:5aa2312d3e94 126 }
Noximilien 1:5aa2312d3e94 127
Noximilien 1:5aa2312d3e94 128 #ifndef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 129 /* Check the user timers. */
Noximilien 1:5aa2312d3e94 130 if (os_tmr.next) {
Noximilien 1:5aa2312d3e94 131 delta = sleep_time;
Noximilien 1:5aa2312d3e94 132 if (delta >= os_tmr.tcnt) {
Noximilien 1:5aa2312d3e94 133 delta -= os_tmr.tcnt;
Noximilien 1:5aa2312d3e94 134 os_tmr.tcnt = 1;
Noximilien 1:5aa2312d3e94 135 while (os_tmr.next) {
Noximilien 1:5aa2312d3e94 136 rt_tmr_tick();
Noximilien 1:5aa2312d3e94 137 if (delta == 0) break;
Noximilien 1:5aa2312d3e94 138 delta--;
Noximilien 1:5aa2312d3e94 139 }
Noximilien 1:5aa2312d3e94 140 } else {
Noximilien 1:5aa2312d3e94 141 os_tmr.tcnt -= delta;
Noximilien 1:5aa2312d3e94 142 }
Noximilien 1:5aa2312d3e94 143 }
Noximilien 1:5aa2312d3e94 144 #endif
Noximilien 1:5aa2312d3e94 145
Noximilien 1:5aa2312d3e94 146 /* Switch back to highest ready task */
Noximilien 1:5aa2312d3e94 147 next = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 148 rt_switch_req (next);
Noximilien 1:5aa2312d3e94 149
Noximilien 1:5aa2312d3e94 150 rt_tsk_unlock();
Noximilien 1:5aa2312d3e94 151 }
Noximilien 1:5aa2312d3e94 152
Noximilien 1:5aa2312d3e94 153
Noximilien 1:5aa2312d3e94 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
Noximilien 1:5aa2312d3e94 155
Noximilien 1:5aa2312d3e94 156 void rt_tsk_lock (void) {
Noximilien 1:5aa2312d3e94 157 /* Prevent task switching by locking out scheduler */
Noximilien 1:5aa2312d3e94 158 OS_X_LOCK(os_tick_irqn);
Noximilien 1:5aa2312d3e94 159 os_lock = __TRUE;
Noximilien 1:5aa2312d3e94 160 OS_X_UNPEND (&pend_flags);
Noximilien 1:5aa2312d3e94 161 }
Noximilien 1:5aa2312d3e94 162
Noximilien 1:5aa2312d3e94 163
Noximilien 1:5aa2312d3e94 164 /*--------------------------- rt_tsk_unlock ---------------------------------*/
Noximilien 1:5aa2312d3e94 165
Noximilien 1:5aa2312d3e94 166 void rt_tsk_unlock (void) {
Noximilien 1:5aa2312d3e94 167 /* Unlock scheduler and re-enable task switching */
Noximilien 1:5aa2312d3e94 168 OS_X_UNLOCK(os_tick_irqn);
Noximilien 1:5aa2312d3e94 169 os_lock = __FALSE;
Noximilien 1:5aa2312d3e94 170 OS_X_PEND (pend_flags, os_psh_flag);
Noximilien 1:5aa2312d3e94 171 os_psh_flag = __FALSE;
Noximilien 1:5aa2312d3e94 172 }
Noximilien 1:5aa2312d3e94 173
Noximilien 1:5aa2312d3e94 174
Noximilien 1:5aa2312d3e94 175 /*--------------------------- rt_psh_req ------------------------------------*/
Noximilien 1:5aa2312d3e94 176
Noximilien 1:5aa2312d3e94 177 void rt_psh_req (void) {
Noximilien 1:5aa2312d3e94 178 /* Initiate a post service handling request if required. */
Noximilien 1:5aa2312d3e94 179 if (os_lock == __FALSE) {
Noximilien 1:5aa2312d3e94 180 OS_PEND_IRQ ();
Noximilien 1:5aa2312d3e94 181 }
Noximilien 1:5aa2312d3e94 182 else {
Noximilien 1:5aa2312d3e94 183 os_psh_flag = __TRUE;
Noximilien 1:5aa2312d3e94 184 }
Noximilien 1:5aa2312d3e94 185 }
Noximilien 1:5aa2312d3e94 186
Noximilien 1:5aa2312d3e94 187
Noximilien 1:5aa2312d3e94 188 /*--------------------------- rt_pop_req ------------------------------------*/
Noximilien 1:5aa2312d3e94 189
Noximilien 1:5aa2312d3e94 190 void rt_pop_req (void) {
Noximilien 1:5aa2312d3e94 191 /* Process an ISR post service requests. */
Noximilien 1:5aa2312d3e94 192 struct OS_XCB *p_CB;
Noximilien 1:5aa2312d3e94 193 P_TCB next;
Noximilien 1:5aa2312d3e94 194 U32 idx;
Noximilien 1:5aa2312d3e94 195
Noximilien 1:5aa2312d3e94 196 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 197 rt_put_rdy_first (os_tsk.run);
Noximilien 1:5aa2312d3e94 198
Noximilien 1:5aa2312d3e94 199 idx = os_psq->last;
Noximilien 1:5aa2312d3e94 200 while (os_psq->count) {
Noximilien 1:5aa2312d3e94 201 p_CB = os_psq->q[idx].id;
Noximilien 1:5aa2312d3e94 202 if (p_CB->cb_type == TCB) {
Noximilien 1:5aa2312d3e94 203 /* Is of TCB type */
Noximilien 1:5aa2312d3e94 204 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
Noximilien 1:5aa2312d3e94 205 }
Noximilien 1:5aa2312d3e94 206 else if (p_CB->cb_type == MCB) {
Noximilien 1:5aa2312d3e94 207 /* Is of MCB type */
Noximilien 1:5aa2312d3e94 208 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
Noximilien 1:5aa2312d3e94 209 }
Noximilien 1:5aa2312d3e94 210 else {
Noximilien 1:5aa2312d3e94 211 /* Must be of SCB type */
Noximilien 1:5aa2312d3e94 212 rt_sem_psh ((P_SCB)p_CB);
Noximilien 1:5aa2312d3e94 213 }
Noximilien 1:5aa2312d3e94 214 if (++idx == os_psq->size) idx = 0;
Noximilien 1:5aa2312d3e94 215 rt_dec (&os_psq->count);
Noximilien 1:5aa2312d3e94 216 }
Noximilien 1:5aa2312d3e94 217 os_psq->last = idx;
Noximilien 1:5aa2312d3e94 218
Noximilien 1:5aa2312d3e94 219 next = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 220 rt_switch_req (next);
Noximilien 1:5aa2312d3e94 221 }
Noximilien 1:5aa2312d3e94 222
Noximilien 1:5aa2312d3e94 223
Noximilien 1:5aa2312d3e94 224 /*--------------------------- os_tick_init ----------------------------------*/
Noximilien 1:5aa2312d3e94 225
Noximilien 1:5aa2312d3e94 226 __weak int os_tick_init (void) {
Noximilien 1:5aa2312d3e94 227 /* Initialize SysTick timer as system tick timer. */
Noximilien 1:5aa2312d3e94 228 rt_systick_init ();
Noximilien 1:5aa2312d3e94 229 return (SYS_TICK_IRQn); /* Return IRQ number of SysTick timer */
Noximilien 1:5aa2312d3e94 230 }
Noximilien 1:5aa2312d3e94 231
Noximilien 1:5aa2312d3e94 232
Noximilien 1:5aa2312d3e94 233 /*--------------------------- os_tick_irqack --------------------------------*/
Noximilien 1:5aa2312d3e94 234
Noximilien 1:5aa2312d3e94 235 __weak void os_tick_irqack (void) {
Noximilien 1:5aa2312d3e94 236 /* Acknowledge timer interrupt. */
Noximilien 1:5aa2312d3e94 237 }
Noximilien 1:5aa2312d3e94 238
Noximilien 1:5aa2312d3e94 239
Noximilien 1:5aa2312d3e94 240 /*--------------------------- rt_systick ------------------------------------*/
Noximilien 1:5aa2312d3e94 241
Noximilien 1:5aa2312d3e94 242 extern void sysTimerTick(void);
Noximilien 1:5aa2312d3e94 243
Noximilien 1:5aa2312d3e94 244 void rt_systick (void) {
Noximilien 1:5aa2312d3e94 245 if(NVIC_Pending(SYS_TICK_IRQn)){
Noximilien 1:5aa2312d3e94 246 rt_pop_req();
Noximilien 1:5aa2312d3e94 247 NVIC_UnpendIRQ(SYS_TICK_IRQn);
Noximilien 1:5aa2312d3e94 248 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
Noximilien 1:5aa2312d3e94 249 return;
Noximilien 1:5aa2312d3e94 250 }
Noximilien 1:5aa2312d3e94 251 /* Check for system clock update, suspend running task. */
Noximilien 1:5aa2312d3e94 252 P_TCB next;
Noximilien 1:5aa2312d3e94 253
Noximilien 1:5aa2312d3e94 254 os_tsk.run->state = READY;
Noximilien 1:5aa2312d3e94 255 rt_put_rdy_first (os_tsk.run);
Noximilien 1:5aa2312d3e94 256
Noximilien 1:5aa2312d3e94 257 /* Check Round Robin timeout. */
Noximilien 1:5aa2312d3e94 258 rt_chk_robin ();
Noximilien 1:5aa2312d3e94 259
Noximilien 1:5aa2312d3e94 260 /* Update delays. */
Noximilien 1:5aa2312d3e94 261 os_time++;
Noximilien 1:5aa2312d3e94 262 rt_dec_dly ();
Noximilien 1:5aa2312d3e94 263
Noximilien 1:5aa2312d3e94 264 /* Check the user timers. */
Noximilien 1:5aa2312d3e94 265 #ifdef __CMSIS_RTOS
Noximilien 1:5aa2312d3e94 266 sysTimerTick();
Noximilien 1:5aa2312d3e94 267 #else
Noximilien 1:5aa2312d3e94 268 rt_tmr_tick ();
Noximilien 1:5aa2312d3e94 269 #endif
Noximilien 1:5aa2312d3e94 270
Noximilien 1:5aa2312d3e94 271 /* Switch back to highest ready task */
Noximilien 1:5aa2312d3e94 272 next = rt_get_first (&os_rdy);
Noximilien 1:5aa2312d3e94 273 rt_switch_req (next);
Noximilien 1:5aa2312d3e94 274 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
Noximilien 1:5aa2312d3e94 275 }
Noximilien 1:5aa2312d3e94 276
Noximilien 1:5aa2312d3e94 277 /*--------------------------- rt_stk_check ----------------------------------*/
Noximilien 1:5aa2312d3e94 278 __weak void rt_stk_check (void) {
Noximilien 1:5aa2312d3e94 279 /* Check for stack overflow. */
Noximilien 1:5aa2312d3e94 280 if (os_tsk.run->task_id == 0x01) {
Noximilien 1:5aa2312d3e94 281 // TODO: For the main thread the check should be done against the main heap pointer
Noximilien 1:5aa2312d3e94 282 } else {
Noximilien 1:5aa2312d3e94 283 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
Noximilien 1:5aa2312d3e94 284 (os_tsk.run->stack[0] != MAGIC_WORD)) {
Noximilien 1:5aa2312d3e94 285 os_error (OS_ERR_STK_OVF);
Noximilien 1:5aa2312d3e94 286 }
Noximilien 1:5aa2312d3e94 287 }
Noximilien 1:5aa2312d3e94 288 }
Noximilien 1:5aa2312d3e94 289
Noximilien 1:5aa2312d3e94 290 /*----------------------------------------------------------------------------
Noximilien 1:5aa2312d3e94 291 * end of file
Noximilien 1:5aa2312d3e94 292 *---------------------------------------------------------------------------*/
Noximilien 1:5aa2312d3e94 293